Missile Defense Group 12
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Missile Defense Group 12

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Missile Defense Group 12




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Presentation on theme: "Missile Defense Group 12"— Presentation transcript:

Slide1

Missile Defense

Group 12

Aaron Smith

Garrett Murray

Brad Miller

Dylan Tootle

Steven Kipikash

Slide2

Agenda

Overview and Needs Analysis

Tasks AssignmentsGantt ChartCamera Full Specs and Vision DemoTarget Identification DemoTracking InformationAiming Platform DemoIntercept Launcher DemoCurrent Status of BudgetWebsiteQuestions

Aaron Smith

Slide3

Project Overview

Aaron Smith

Slide4

Aaron Smith

Slide5

What is the scenario?

Projectile d = 20.3 cm V = 43.8cm3M = 122gAverage Horizontal Velocity

5.6m/s

Average Flight Time

0.9s

Defense Zone Area

0.7m

2

Max Projectile Height

2m

Aaron Smith

Slide6

Aaron Smith

4

Slide7

What do we need for success?

Identify the projectile

Record projectile’s characteristicsSpeed, Direction, AccelerationCalculate projectile’s trajectoryFire “defense dart” and alter missile's current course0.2 seconds0.2 seconds

0.1 seconds

0.4 seconds

Aaron Smith

Slide8

Overall Progress Report

Gantt Chart

Aaron Smith

Slide9

Camera

Slide10

Camera

Basler ace acA1300-200uc Color USB 3.0

Why we chose this camera

Frame rate(203 fps)Resolution (1.31 MP)USB 3.0Color (differentiation between target and surroundings)Online Resources and softwareEase of use

Dylan Tootle

Slide11

Camera

3.5 mm C Series Fixed Focal Length Lens

Why we chose this lens

Chosen with assistance from Edmund OpticsFocal and sensor length allow for an increased field of viewDylan Tootle

Slide12

See Camera

Slide13

Tracking

OpenCV

Python

Aaron Smith

Slide14

Tracking Information

Toss the ball

Slide15

Calculate x and y velocity from two frames

Vx = ∆dx/tVy = ∆dy/t

Calculate Intercept x and y coordinates

y= V

y

t+

(½)(9.81)t

2

x= V

x

t

Projectile Flight Path

Steven Kipikash

Slide16

Camera Grid System

Calculate two X velocities and two Y velocities from three frames

Vx1 = (x2 - x1)/t1Vy1 = (y2 - y1)/t1

V

x2

=

(x3 - x2)

/t

2

V

y2

=

(y3 - y2)

/t

2 Calculate X and Y accelerationsAx = (V

x2

- V

x1

)/(t

1

+ t

2

)

A

y

= (V

y2

- V

y1

)/(t

1

+ t

2

)

Calculate Intercept x and y coordinates

Y = y

3

+ V

y2

t

t

+

(½)(A

y

)t

t

2

X = x

2

+

V

x2

t

t

+

(½)(Ax)tt2

Steven Kipikash

Slide17

Tracking

Predict the ball

Slide18

Aiming Platform

Holding Torque

74 kg·cm7.3 N·mNo-load Speed78 RPMResolution

0.088°

Rotation

360°

Max Current

4.1 A @ 12V

Voltage

12 V

L

oad Speed

75 RPM

Steps Per 45

°

512

ScorpionX MX-64 Pan Tilt

Preloaded Firmware

Arduino 1.0.6 Compatible

FTDI-USB connection

ArbotiX-M Robocontroller

16MHz AVR microcontroller

16 Digital inputs

3-pin headers (gnd, vcc, signal) on all 8 analog inputs

Brad

Slide19

Aiming Software

We have separated the aiming software into 2 different parts:

Taking in the calculated intercept point and sending a signal to the pan/tilt interface

Implementing a signal to “fire” the missileC code is used to control the pan/tilt interface that is connected to an Arduino ArbotiX-M RobocontrollerThe Arduino ArbotiX-M Robocontroller offers a higher processing rate which allows the turret have time to point in the direction to where it was commanded to. Brad

Slide20

Aiming Platform Motion Calculations

The Servo’s position is represented by a number called the position ID, a number that tells where the servo to point.

The bottom servo(Pan) position ID

Center = 204890 Degrees to the right = 1024 90 Degrees to the left = 3072The top servo(Tilt) position IDStarting point = 2049Facing the floor = 1023In order to figure out where the turret needs to be pointed to obstruct the target, calculations will need to be made.Brad

Slide21

Aiming Platform Motion Calculations (

Aerial

View)

5 m

Turret

Where target is thrown

Where target lands

4

m

Theta

A

C

B

A = 2048 + 364 = 2412 Position ID

B =

2048 Position ID

C

= 2048 - 364 = 1684 Position ID

Total Number of Steps in Range = 728 Steps

# of Steps = 32/0.088 = 364

Brad

Theta = 32

°

Slide22

Aiming Platform Motion Calculations (Side View)

Brad

turret

1 m

1

m

1 m

C

theta

t

heta

Theta= 14.03°

# of steps in the range: 160

Position IDs

A(top of range) = 1843

B(center) = 1683

C(bottom of range) = 1523

B

A

5 m

5 m

Slide23

Turret Demo

Show Turret

Slide24

Intercept Launcher

Specifications

Max launching pressure: 105 PSI

Approximate speed of projectile: 15 (m/s)Paintball barrel used for increased accuracyCircuit DesignGarrett Murray

Ball Throw and Hit

Stationary Ball and Hit

Slide25

Interceptor Demo

Fire Turret

Slide26

Budget Final

Slide27

Budget Final

TOTAL

$4,821.82

Projectile

$15.00

Mounting(Brad)

$80.00

Turret

$694.08

Mounting(Aaron)

$105.39

Launcher

$135.55

Missiles 2 (Brad)

$36.74

Computer

$2,459.78

Compressor #2

281.85

Camera

$924.49

Backdrop

38.94

Paintballs

$50.00

Left Over

$178.18

Steven Kipikash

Slide28

Challenges Faced

Slide29

Communication between separate programs

Code conversions

Turret accuracy

Slide30

Website

Slide31

eng.fsu.edu/~millbr

Brad

Slide32

Questions?

Slide33